utils.hpp

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#pragma once
 
#include <utility>
#include "common_lib/maths/transformations.hpp"
#include <memory>
#include "common_lib/car_parameters/car_parameters.hpp"
 
std::pair<double, double> wheels_velocities_to_cg(std::shared_ptr<common_lib::car_parameters::CarParameters> car_parameters, 
  double rl_rpm, [[maybe_unused]] double fl_rpm, double rr_rpm, [[maybe_unused]] double fr_rpm, double steering_angle);